Provided is an object recognition device capable of accurately estimating a distance from an own vehicle to an object such as a pedestrian. There are provided: a part specification unit 104 that determines a specific part region in an object by analyzing an image of a region corresponding to the object detected by an overlapping region object detection unit 103; an image information storage unit 105 that stores image information on the part region determined by the part specification unit 104; a three-dimensional information acquisition unit 106 that acquires three-dimensional information of the part region specified by the part specification unit 104 on the basis of the distance information acquired by a distance information acquisition unit 102; a non-overlapping region object detection unit 107 that detects the part region specified by the part specification unit 104 with reference to the image information stored in the image information storage unit 105 for the non-overlapping region; and a distance calculation unit 108 that calculates a distance to an object including the part region on the basis of the detection region information on an image of the part region detected by the non-overlapping region object detection unit 107 and the three-dimensional information acquired by the three-dimensional information acquisition unit 106.